james hatch
/
Encoder
df
Encoder.h
- Committer:
- jahatch
- Date:
- 2015-07-01
- Revision:
- 2:6f9c364ebe40
- Parent:
- 0:0a457148bccf
File content as of revision 2:6f9c364ebe40:
#ifndef ENCODER_H #define ENCODER_H #include "mbed.h" // Define BaseClass Encoder class Encoder { public: // Constructor Encoder(PinName mosi, PinName miso, PinName sck, PinName ncs); float angle(); bool parityFlag(); bool encFlag(); void init(float zero_ang); void flip(); short int readRaw(); // Functions private: SPI _spi; DigitalOut _cs; bool parity_calc(int x); int sign; int read(); bool parity; bool enc_flag; //zero_ang for standing position float zero_ang; short int raw; // Variables const float enc2deg; }; #endif